mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
35 lines
950 B
C++
35 lines
950 B
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#ifndef JAGUAR_H
|
|
#define JAGUAR_H
|
|
|
|
#include "simulation/SimContinuousOutput.h"
|
|
#include "SpeedController.h"
|
|
#include "PIDOutput.h"
|
|
|
|
/**
|
|
* Luminary Micro Jaguar Speed Control
|
|
*/
|
|
class Jaguar : public SpeedController
|
|
{
|
|
public:
|
|
explicit Jaguar(uint32_t channel);
|
|
Jaguar(uint8_t moduleNumber, uint32_t channel);
|
|
virtual ~Jaguar();
|
|
virtual void Set(float value, uint8_t syncGroup=0);
|
|
virtual float Get();
|
|
virtual void Disable();
|
|
|
|
virtual void PIDWrite(float output);
|
|
|
|
private:
|
|
void InitJaguar(int slot, int channel);
|
|
SimContinuousOutput* impl;
|
|
};
|
|
|
|
#endif
|